/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#include "AP_InertialSensor_MPU6000.h"

static FastSerial *serPort;

#ifdef AP_InertialSensor_MPU6000_DEBUG_ENABLE
#pragma message "*** AP_InertialSensor_MPU6000 Debug Enabled ***"
#define debug(fmt, args...) do { if (serPort != NULL) { serPort->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(100); } } while(0)
#else
#define debug(fmt, args...)
#endif
#define notify(fmt, args...) do { if (serPort != NULL) { serPort->printf(fmt, ##args); delay(100); } } while(0)
/* Inertial Sensors *********************************************/
#define MPU6000_CS_PIN			77
#define MPU6000_INT_PIN			99

// MPU6000 accelerometer scaling
#define MPU6000_ACCEL_SCALE_1G    (GRAVITY / 4096.0)


// MPU 6000 registers
#define MPUREG_XG_OFFS_TC				0x00
#define MPUREG_YG_OFFS_TC				0x01
#define MPUREG_ZG_OFFS_TC				0x02
#define MPUREG_X_FINE_GAIN				0x03
#define MPUREG_Y_FINE_GAIN				0x04
#define MPUREG_Z_FINE_GAIN				0x05
#define MPUREG_XA_OFFS_H				0x06	// X axis accelerometer offset (high byte)
#define MPUREG_XA_OFFS_L				0x07	// X axis accelerometer offset (low byte)
#define MPUREG_YA_OFFS_H				0x08	// Y axis accelerometer offset (high byte)
#define MPUREG_YA_OFFS_L				0x09	// Y axis accelerometer offset (low byte)
#define MPUREG_ZA_OFFS_H				0x0A	// Z axis accelerometer offset (high byte)
#define MPUREG_ZA_OFFS_L				0x0B	// Z axis accelerometer offset (low byte)
#define MPUREG_PRODUCT_ID 				0x0C	// Product ID Register
#define MPUREG_XG_OFFS_USRH 			0x13	// X axis gyro offset (high byte)
#define MPUREG_XG_OFFS_USRL 			0x14	// X axis gyro offset (low byte)
#define MPUREG_YG_OFFS_USRH 			0x15	// Y axis gyro offset (high byte)
#define MPUREG_YG_OFFS_USRL 			0x16	// Y axis gyro offset (low byte)
#define MPUREG_ZG_OFFS_USRH 			0x17	// Z axis gyro offset (high byte)
#define MPUREG_ZG_OFFS_USRL 			0x18	// Z axis gyro offset (low byte)
#define MPUREG_SMPLRT_DIV				0x19	// sample rate.  Fsample= 1Khz/(<this value>+1) = 200Hz
#       define MPUREG_SMPLRT_1000HZ                             0x00
#       define MPUREG_SMPLRT_500HZ                              0x01
#       define MPUREG_SMPLRT_250HZ                              0x03
#       define MPUREG_SMPLRT_200HZ                              0x04
#       define MPUREG_SMPLRT_100HZ                              0x09
#       define MPUREG_SMPLRT_50HZ                               0x13
#define MPUREG_CONFIG						0x1A
#define MPUREG_GYRO_CONFIG					0x1B
// bit definitions for MPUREG_GYRO_CONFIG
#       define BITS_GYRO_FS_250DPS                              0x00
#       define BITS_GYRO_FS_500DPS                              0x08
#       define BITS_GYRO_FS_1000DPS                             0x10
#       define BITS_GYRO_FS_2000DPS                             0x18
#       define BITS_GYRO_FS_MASK                                0x18    // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
#       define BITS_GYRO_ZGYRO_SELFTEST                 0x20
#       define BITS_GYRO_YGYRO_SELFTEST                 0x40
#       define BITS_GYRO_XGYRO_SELFTEST                 0x80
#define MPUREG_ACCEL_CONFIG				0x1C
#define MPUREG_MOT_THR					0x1F	// detection threshold for Motion interrupt generation.  Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
#define MPUREG_MOT_DUR					0x20	// duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
#define MPUREG_ZRMOT_THR				0x21	// detection threshold for Zero Motion interrupt generation.
#define MPUREG_ZRMOT_DUR				0x22	// duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
#define MPUREG_FIFO_EN					0x23
#define MPUREG_INT_PIN_CFG				0x37
#       define BIT_INT_RD_CLEAR                                 0x10    // clear the interrupt when any read occurs
#define MPUREG_INT_ENABLE				0x38
// bit definitions for MPUREG_INT_ENABLE
#       define BIT_RAW_RDY_EN                                   0x01
#       define BIT_DMP_INT_EN                                   0x02    // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
#       define BIT_UNKNOWN_INT_EN                               0x04
#       define BIT_I2C_MST_INT_EN                               0x08
#       define BIT_FIFO_OFLOW_EN                                0x10
#       define BIT_ZMOT_EN                                              0x20
#       define BIT_MOT_EN                                               0x40
#       define BIT_FF_EN                                                0x80
#define MPUREG_INT_STATUS				0x3A
// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
#       define BIT_RAW_RDY_INT                                  0x01
#       define BIT_DMP_INT                                              0x02
#       define BIT_UNKNOWN_INT                                  0x04
#       define BIT_I2C_MST_INT                                  0x08
#       define BIT_FIFO_OFLOW_INT                               0x10
#       define BIT_ZMOT_INT                                             0x20
#       define BIT_MOT_INT                                              0x40
#       define BIT_FF_INT                                               0x80
#define MPUREG_ACCEL_XOUT_H				0x3B
#define MPUREG_ACCEL_XOUT_L				0x3C
#define MPUREG_ACCEL_YOUT_H				0x3D
#define MPUREG_ACCEL_YOUT_L				0x3E
#define MPUREG_ACCEL_ZOUT_H				0x3F
#define MPUREG_ACCEL_ZOUT_L				0x40
#define MPUREG_TEMP_OUT_H				0x41
#define MPUREG_TEMP_OUT_L				0x42
#define MPUREG_GYRO_XOUT_H				0x43
#define MPUREG_GYRO_XOUT_L				0x44
#define MPUREG_GYRO_YOUT_H				0x45
#define MPUREG_GYRO_YOUT_L				0x46
#define MPUREG_GYRO_ZOUT_H				0x47
#define MPUREG_GYRO_ZOUT_L				0x48
#define MPUREG_USER_CTRL				0x6A
// bit definitions for MPUREG_USER_CTRL
#       define BIT_USER_CTRL_SIG_COND_RESET             0x01            // resets signal paths and results registers for all sensors (gyros, accel, temp)
#       define BIT_USER_CTRL_I2C_MST_RESET              0x02            // reset I2C Master (only applicable if I2C_MST_EN bit is set)
#       define BIT_USER_CTRL_FIFO_RESET                 0x04            // Reset (i.e. clear) FIFO buffer
#       define BIT_USER_CTRL_DMP_RESET                  0x08            // Reset DMP
#       define BIT_USER_CTRL_I2C_IF_DIS                 0x10            // Disable primary I2C interface and enable SPI interface
#       define BIT_USER_CTRL_I2C_MST_EN                 0x20            // Enable MPU to act as the I2C Master to external slave sensors
#       define BIT_USER_CTRL_FIFO_EN                    0x40            // Enable FIFO operations
#       define BIT_USER_CTRL_DMP_EN                             0x80            // Enable DMP operations
#define MPUREG_PWR_MGMT_1				0x6B
#       define BIT_PWR_MGMT_1_CLK_INTERNAL              0x00            // clock set to internal 8Mhz oscillator
#       define BIT_PWR_MGMT_1_CLK_XGYRO                 0x01            // PLL with X axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_YGYRO                 0x02            // PLL with Y axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_ZGYRO                 0x03            // PLL with Z axis gyroscope reference
#       define BIT_PWR_MGMT_1_CLK_EXT32KHZ              0x04            // PLL with external 32.768kHz reference
#       define BIT_PWR_MGMT_1_CLK_EXT19MHZ              0x05            // PLL with external 19.2MHz reference
#       define BIT_PWR_MGMT_1_CLK_STOP                  0x07            // Stops the clock and keeps the timing generator in reset
#       define BIT_PWR_MGMT_1_TEMP_DIS                  0x08            // disable temperature sensor
#       define BIT_PWR_MGMT_1_CYCLE                             0x20            // put sensor into cycle mode.  cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
#       define BIT_PWR_MGMT_1_SLEEP                             0x40            // put sensor into low power sleep mode
#       define BIT_PWR_MGMT_1_DEVICE_RESET              0x80            // reset entire device
#define MPUREG_PWR_MGMT_2				0x6C		// allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
#define MPUREG_BANK_SEL					0x6D		// DMP bank selection register (used to indirectly access DMP registers)
#define MPUREG_MEM_START_ADDR			0x6E		// DMP memory start address (used to indirectly write to dmp memory)
#define MPUREG_MEM_R_W					0x6F		// DMP related register
#define MPUREG_DMP_CFG_1				0x70		// DMP related register
#define MPUREG_DMP_CFG_2				0x71		// DMP related register
#define MPUREG_FIFO_COUNTH				0x72
#define MPUREG_FIFO_COUNTL				0x73
#define MPUREG_FIFO_R_W					0x74
#define MPUREG_WHOAMI					0x75


// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BITS_DLPF_CFG_256HZ_NOLPF2		0x00
#define BITS_DLPF_CFG_188HZ				0x01
#define BITS_DLPF_CFG_98HZ				0x02
#define BITS_DLPF_CFG_42HZ				0x03
#define BITS_DLPF_CFG_20HZ				0x04
#define BITS_DLPF_CFG_10HZ				0x05
#define BITS_DLPF_CFG_5HZ				0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF		0x07
#define BITS_DLPF_CFG_MASK				0x07

											// Product ID Description for MPU6000
											// high 4 bits 	low 4 bits
											// Product Name	Product Revision
#define MPU6000ES_REV_C4 			0x14 	// 0001			0100
#define MPU6000ES_REV_C5 			0x15 	// 0001			0101
#define MPU6000ES_REV_D6 			0x16	// 0001			0110
#define MPU6000ES_REV_D7 			0x17	// 0001			0111
#define MPU6000ES_REV_D8 			0x18	// 0001			1000	
#define MPU6000_REV_C4 				0x54	// 0101			0100 
#define MPU6000_REV_C5 				0x55	// 0101			0101
#define MPU6000_REV_D6 				0x56	// 0101			0110	
#define MPU6000_REV_D7 				0x57	// 0101			0111
#define MPU6000_REV_D8 				0x58	// 0101			1000
#define MPU6000_REV_D9 				0x59	// 0101			1001

// DMP output rate constants
#define MPU6000_200HZ				0x00    // default value
#define MPU6000_100HZ				0x01
#define MPU6000_66HZ				0x02
#define MPU6000_50HZ				0x03

// DMP FIFO constants
#define FIFO_PACKET_SIZE 18            // Default quaternion FIFO size (4*4) + Footer(2)
#define GYRO_BIAS_FROM_GRAVITY_RATE 4  // Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz
#define DEFAULT_ACCEL_FUSION_GAIN	0x80	// Default gain for accel fusion (with gyros)

HardwareSPI *AP_InertialSensor_MPU6000::_SPIx;

uint8_t AP_InertialSensor_MPU6000::_cs_pin;

/* 
   RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of
   gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3)
   32.8
   65.4
 */

const float AP_InertialSensor_MPU6000::_gyro_scale = (0.017453292519 / 32.8);

/* pch: I believe the accel and gyro indicies are correct
 *      but somone else should please confirm.
 */
const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3]  = { 5, 4, 6 };
const int8_t  AP_InertialSensor_MPU6000::_gyro_data_sign[3]   = { -1, -1, -1 };

const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 };
const int8_t  AP_InertialSensor_MPU6000::_accel_data_sign[3]  = { -1, -1, -1 };

const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;

int16_t AP_InertialSensor_MPU6000::_mpu6000_product_id = AP_PRODUCT_ID_NONE;

static volatile uint8_t _new_data;

// variables to calculate time period over which a group of samples were collected
static volatile uint32_t _delta_time_micros = 1;   // time period overwhich samples were collected (initialise to non-zero number but will be overwritten on 2nd read in any case)
static volatile uint32_t _delta_time_start_micros = 0;  // time we start collecting sample (reset on update)
static volatile uint32_t _last_sample_time_micros = 0;  // time latest sample was collected

// DMP related static variables
bool AP_InertialSensor_MPU6000::_dmp_initialised = false;
uint8_t AP_InertialSensor_MPU6000::_fifoCountH;			// high byte of number of elements in fifo buffer
uint8_t AP_InertialSensor_MPU6000::_fifoCountL;			// low byte of number of elements in fifo buffer
Quaternion AP_InertialSensor_MPU6000::quaternion;			// holds the 4 quaternions representing attitude taken directly from the DMP

/*
 *  RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of
 *  accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2)
 *
 *  See note below about accel scaling of engineering sample MPU6k
 *  variants however
 */

AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( uint8_t cs_pin, HardwareSPI *spi_dev, FastSerial *ser_port)
{
  serPort = ser_port;
  _cs_pin = cs_pin; /* can't use initializer list,  is static */
  _temp = 0;
  _initialised = false;
  _dmp_initialised = false;
  _SPIx = spi_dev;
  //_scheduler = NULL;
}

uint16_t AP_InertialSensor_MPU6000::_init_sensor( AP_PeriodicProcess * scheduler, Sample_rate sample_rate )
{
    if (_initialised) return _mpu6000_product_id;
    _initialised = true;
    hardware_init(sample_rate);
	return _mpu6000_product_id;
}

// accumulation in ISR - must be read with interrupts disabled
// the sum of the values since last read
static volatile int32_t _sum[7];

// how many values we've accumulated since last read
static volatile uint16_t _count;

/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */

bool AP_InertialSensor_MPU6000::update( void )
{
    int32_t sum[7];
    uint16_t count;
    float count_scale;
    Vector3f gyro_offset = _gyro_offset.get();
    Vector3f accel_scale = _accel_scale.get();
    Vector3f accel_offset = _accel_offset.get();

	// wait for at least 1 sample
	if (_count == 0)
		return false;

	// disable interrupts for mininum time
	noInterrupts();
    for (int i=0; i<7; i++) {
        sum[i] = _sum[i];
        _sum[i] = 0;
    }
    count = _count;
    _count = 0;

    // record sample time
    _delta_time_micros = _last_sample_time_micros - _delta_time_start_micros;
    _delta_time_start_micros = _last_sample_time_micros;
	interrupts();

	count_scale = 1.0 / count;

    _gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale;
    _gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale;
    _gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale;
    _gyro -= gyro_offset;

    _accel.x = accel_scale.x * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale * MPU6000_ACCEL_SCALE_1G;
    _accel.y = accel_scale.y * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale * MPU6000_ACCEL_SCALE_1G;
    _accel.z = accel_scale.z * _accel_data_sign[2] * sum[_accel_data_index[2]] * count_scale * MPU6000_ACCEL_SCALE_1G;
    _accel -= _accel_offset;

	_temp    = _temp_to_celsius(sum[_temp_data_index] * count_scale);

	return true;
}

bool AP_InertialSensor_MPU6000::new_data_available( void )
{
    return _count != 0;
}

float AP_InertialSensor_MPU6000::temperature() {
    return _temp;
}

/*================ HARDWARE FUNCTIONS ==================== */

int16_t AP_InertialSensor_MPU6000::spi_transfer_16(void)
{
	uint8_t byte_H, byte_L;
	byte_H = _SPIx->transfer(0);
	byte_L = _SPIx->transfer(0);
	return (((int16_t)byte_H)<<8) | byte_L;
}

/*
  this is called from a timer interrupt to read data from the MPU6000
  and add it to _sum[]
 */
void AP_InertialSensor_MPU6000::read(uint32_t )
{
    if (_new_data == 0) {
        // no new data is ready from the MPU6000
        return;
    }
    _new_data = 0;

    // now read the data
    digitalWrite(_cs_pin, LOW);
    byte addr = MPUREG_ACCEL_XOUT_H | 0x80;
    _SPIx->transfer(addr);
    for (uint8_t i=0; i<7; i++) {
        _sum[i] += spi_transfer_16();
    }

    digitalWrite(_cs_pin, HIGH);
    _count++;
    if (_count == 0) {
        // rollover - v unlikely
        memset((void*)_sum, 0, sizeof(_sum));
    }

    // should also read FIFO data if enabled
    if( _dmp_initialised ) {
        if( FIFO_ready() ) {
            FIFO_getPacket();
        }
    }
}

void AP_InertialSensor_MPU6000::read()
{
	AP_InertialSensor_MPU6000::read((uint32_t)micros());
}

uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg )
{
  uint8_t dump;
  uint8_t return_value;
  uint8_t addr = reg | 0x80; // Set most significant bit

  digitalWrite(_cs_pin, LOW);

  dump = _SPIx->transfer(addr);
  return_value = _SPIx->transfer(0);

  digitalWrite(_cs_pin, HIGH);

  return return_value;
}

void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val)
{
  uint8_t dump;
  digitalWrite(_cs_pin, LOW);
  dump = _SPIx->transfer(reg);
  dump = _SPIx->transfer(val);
  digitalWrite(_cs_pin, HIGH);
}

// MPU6000 new data interrupt on INT6
void AP_InertialSensor_MPU6000::data_interrupt(void)
{
    // tell the timer routine that there is data to be read
    _last_sample_time_micros = micros();
    _new_data = 1;
}

void AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
{
	_SPIx->begin(SPI_1_125MHZ   ,MSBFIRST ,0);

	// MPU6000 chip select setup
    pinMode(_cs_pin, OUTPUT);
    digitalWrite(_cs_pin, HIGH);
    delay(1);

    // Chip reset
    register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
    delay(100);
    // Wake up device and select GyroZ clock (better performance)
    register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_ZGYRO);
    delay(1);

	register_write(MPUREG_PWR_MGMT_2, 0x00);	// only used for wake-up in accelerometer only low power mode
	delay(1);

    // Disable I2C bus (recommended on datasheet)
    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
    delay(1);

    uint8_t rate, filter, default_filter;

    // sample rate and filtering
    // to minimise the effects of aliasing we choose a filter
    // that is less than half of the sample rate
    switch (sample_rate) {
    case RATE_50HZ:
        rate = MPUREG_SMPLRT_50HZ;
        default_filter = BITS_DLPF_CFG_20HZ;
        break;
    case RATE_100HZ:
        rate = MPUREG_SMPLRT_100HZ;
        default_filter = BITS_DLPF_CFG_42HZ;
        break;
    case RATE_200HZ:
        rate = MPUREG_SMPLRT_200HZ;
        default_filter = BITS_DLPF_CFG_98HZ;
        break;
    case RATE_1000HZ:
    default:
        rate = MPUREG_SMPLRT_1000HZ;
        default_filter = BITS_DLPF_CFG_98HZ;
        break;
    }
    
    // choose filtering frequency
    switch (_mpu6000_filter) {
    case 5:
        filter = BITS_DLPF_CFG_5HZ;
        break;
    case 10:
        filter = BITS_DLPF_CFG_10HZ;
        break;
    case 20:
        filter = BITS_DLPF_CFG_20HZ;
        break;
    case 42:
        filter = BITS_DLPF_CFG_42HZ;
        break;
    case 98:
        filter = BITS_DLPF_CFG_98HZ;
        break;
    case 0:
    default:
        // the user hasn't specified a specific frequency,
        // use the default value for the given sample rate
        filter = default_filter;
    }

    // set sample rate
    register_write(MPUREG_SMPLRT_DIV, rate);
    delay(1);

    // set low pass filter
    register_write(MPUREG_CONFIG, filter);
    delay(1);
    register_write(MPUREG_GYRO_CONFIG,BITS_GYRO_FS_1000DPS);  // Gyro scale 2000°/s
    delay(1);
	
	_mpu6000_product_id = register_read(MPUREG_PRODUCT_ID); // read the product ID rev c has 1/2 the sensitivity of rev d
	//Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id);
	
	if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
		(_mpu6000_product_id == MPU6000_REV_C4)   || (_mpu6000_product_id == MPU6000_REV_C5)){
		// Accel scale 8g (4096 LSB/g)
		// Rev C has different scaling than rev D
		register_write(MPUREG_ACCEL_CONFIG,1<<3);
	} else {
		// Accel scale 8g (4096 LSB/g)
		register_write(MPUREG_ACCEL_CONFIG,2<<3);
	}
    delay(1);

    register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);			// configure interrupt to fire when new data arrives
    delay(1);
    register_write(MPUREG_INT_PIN_CFG,BIT_INT_RD_CLEAR);  // INT: Clear on any read
    delay(1);

    attachInterrupt(99,data_interrupt,RISING);
    delay(2);
	// initialise DMP.  Should we only do this when we know we want to use the DMP for attitude sensing as well?
	//dmp_init();


    _SPIx->begin(SPI_9MHZ, MSBFIRST, 0);
}

float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval )
{
	float temp;
	temp = ((float)regval / 361.0) + 35.0;
    return (temp);
}

// return the MPU6k gyro drift rate in radian/s/s
// note that this is much better than the oilpan gyros
float AP_InertialSensor_MPU6000::get_gyro_drift_rate(void)
{
    // 0.5 degrees/second/minute
    return ToRad(0.5/60);
}

// get number of samples read from the sensors
uint16_t AP_InertialSensor_MPU6000::num_samples_available()
{
    return _count;
}

// get_delta_time returns the time period in seconds overwhich the sensor data was collected
uint32_t AP_InertialSensor_MPU6000::get_delta_time_micros() 
{
    return _delta_time_micros;
}
// Update gyro offsets with new values.  Offsets provided in as scaled deg/sec values
void AP_InertialSensor_MPU6000::push_gyro_offsets_to_dmp()
{
    Vector3f gyro_offsets = _gyro_offset.get();

    int16_t offsetX = gyro_offsets.x / _gyro_scale * _gyro_data_sign[0];
    int16_t offsetY = gyro_offsets.y / _gyro_scale * _gyro_data_sign[1];
    int16_t offsetZ = gyro_offsets.z / _gyro_scale * _gyro_data_sign[2];

    set_dmp_gyro_offsets(offsetX, offsetY, offsetZ);

    // remove ins level offsets to avoid double counting
    gyro_offsets.x = 0;
    gyro_offsets.y = 0;
    gyro_offsets.z = 0;
    _gyro_offset = gyro_offsets;
}

// Update gyro offsets with new values. New offset values are substracted to actual offset values.
// offset values in gyro LSB units (as read from registers)
void AP_InertialSensor_MPU6000::set_dmp_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
{
    int16_t aux_int;

    if (offsetX != 0) {
        // Read actual value
        aux_int = (register_read(MPUREG_XG_OFFS_USRH)<<8) | register_read(MPUREG_XG_OFFS_USRL);
        aux_int -= offsetX<<1;           // Adjust to internal units
        // Write to MPU registers
        register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF);
        register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF);
    }
    if (offsetY != 0) {
        aux_int = (register_read(MPUREG_YG_OFFS_USRH)<<8) | register_read(MPUREG_YG_OFFS_USRL);
        aux_int -= offsetY<<1;           // Adjust to internal units
        // Write to MPU registers
        register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF);
        register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF);
    }
    if (offsetZ != 0) {
        aux_int = (register_read(MPUREG_ZG_OFFS_USRH)<<8) | register_read(MPUREG_ZG_OFFS_USRL);
        aux_int -= offsetZ<<1;           // Adjust to internal units
        // Write to MPU registers
        register_write(MPUREG_ZG_OFFS_USRH, (aux_int>>8)&0xFF);
        register_write(MPUREG_ZG_OFFS_USRL, aux_int&0xFF);
    }
}

// Update accel offsets with new values.  Offsets provided in as scaled values (1G)
void AP_InertialSensor_MPU6000::push_accel_offsets_to_dmp()
{
    Vector3f accel_offset = _accel_offset.get();
    Vector3f accel_scale = _accel_scale.get();
    int16_t offsetX = accel_offset.x / (accel_scale.x * _accel_data_sign[0] * MPU6000_ACCEL_SCALE_1G);
    int16_t offsetY = accel_offset.y / (accel_scale.y * _accel_data_sign[1] * MPU6000_ACCEL_SCALE_1G);
    int16_t offsetZ = accel_offset.z / (accel_scale.z * _accel_data_sign[2] * MPU6000_ACCEL_SCALE_1G);

    // strangely x and y are reversed
    set_dmp_accel_offsets(offsetY, offsetX, offsetZ);
}

// set_accel_offsets - adds an offset to acceleromter readings
// This is useful for dynamic acceleration correction (for example centripetal force correction)
// and for the initial offset calibration
// Input, accel offsets for X,Y and Z in LSB units (as read from raw values)
void AP_InertialSensor_MPU6000::set_dmp_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
{
    int aux_int;
    uint8_t regs[2];

    // Write accel offsets to DMP memory...
    // TO-DO: why don't we write to main accel offset registries? i.e. MPUREG_XA_OFFS_H
    aux_int = offsetX>>1;                       // Transform to internal units
    regs[0]=(aux_int>>8)&0xFF;
    regs[1]=aux_int&0xFF;
    dmp_register_write(0x01,0x08,2,regs);               // key KEY_D_1_8  Accel X offset

    aux_int = offsetY>>1;
    regs[0]=(aux_int>>8)&0xFF;
    regs[1]=aux_int&0xFF;
    dmp_register_write(0x01,0x0A,2,regs);               // key KEY_D_1_10  Accel Y offset

    aux_int = offsetZ>>1;
    regs[0]=(aux_int>>8)&0xFF;
    regs[1]=aux_int&0xFF;
    dmp_register_write(0x01,0x02,2,regs);               // key KEY_D_1_2  Accel Z offset
}

// dmp_register_write - method to write to dmp's registers
//    the dmp is logically separated from the main mpu6000.  To write a block of memory to the DMP's memory you
//    write the "bank" and starting address into two of the main MPU's registers, then write the data one byte
//    at a time into the MPUREG_MEM_R_W register
void AP_InertialSensor_MPU6000::dmp_register_write(uint8_t bank, uint8_t address, uint8_t num_bytes, uint8_t data[])
{
  uint8_t dump;
  register_write(MPUREG_BANK_SEL,bank);
  register_write(MPUREG_MEM_START_ADDR,address);
  digitalWrite(_cs_pin, LOW);
  dump = _SPIx->transfer(MPUREG_MEM_R_W);
  for (uint8_t i=0; i<num_bytes; i++) {
	  dump = _SPIx->transfer(data[i]);
  }
  digitalWrite(_cs_pin, HIGH);
}

// MPU6000 DMP initialization
// this should be called after hardware_init if you wish to enable the dmp
void AP_InertialSensor_MPU6000::dmp_init()
{
  uint8_t regs[4];	// for writing to dmp

  // ensure we only initialise once
  if( _dmp_initialised ) {
	return;
  }

  // load initial values into DMP memory
  dmp_load_mem();

  dmp_set_gyro_calibration();
  dmp_set_accel_calibration();
  dmp_apply_endian_accel();
  dmp_set_mpu_sensors();
  dmp_set_bias_none();
  dmp_set_fifo_interrupt();
  dmp_send_quaternion();                        // By default we only send the quaternion to the FIFO (18 bytes packet size)
  dmp_set_fifo_rate(MPU6000_200HZ);   			// 200Hz DMP output rate

    register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN | BIT_DMP_INT_EN ); // configure interrupts to fire only when new data arrives from DMP (in fifo buffer)

  // Randy: no idea what this does
  register_write(MPUREG_DMP_CFG_1, 0x03);		//MPUREG_DMP_CFG_1, 0x03
  register_write(MPUREG_DMP_CFG_2, 0x00);		//MPUREG_DMP_CFG_2, 0x00

  //inv_state_change_fifo
  regs[0] = 0xFF;
  regs[1] = 0xFF;
  dmp_register_write(0x01, 0xB2, 0x02, regs);	// D_1_178

  // ?? FIFO ??
  regs[0] = 0x09;
  regs[1] = 0x23;
  regs[2] = 0xA1;
  regs[3] = 0x35;
  dmp_register_write(0x01, 0x90, 0x04, regs);	// D_1_144

  //register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);		//MPUREG_USER_CTRL, BIT_FIFO_RST
  FIFO_reset();

  FIFO_ready();

  //register_write(MPUREG_USER_CTRL, 0x00);		// MPUREG_USER_CTRL, 0.  TO-DO: is all this setting of USER_CTRL really necessary?

  register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);		//MPUREG_USER_CTRL, BIT_FIFO_RST.  TO-DO: replace this call with FIFO_reset()?
  register_write(MPUREG_USER_CTRL, 0x00);		// MPUREG_USER_CTRL: 0
  register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);

  // Set the gain of the accel in the sensor fusion
  dmp_set_sensor_fusion_accel_gain(DEFAULT_ACCEL_FUSION_GAIN);   // default value

  // dmp initialisation complete
  _dmp_initialised = true;
}

// dmp_reset - reset dmp (required for changes in gains or offsets to take effect)
void AP_InertialSensor_MPU6000::dmp_reset()
{
	//uint8_t tmp = register_read(MPUREG_USER_CTRL);
	//tmp |= BIT_USER_CTRL_DMP_RESET;
	//register_write(MPUREG_USER_CTRL,tmp);
	register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);		//MPUREG_USER_CTRL, BIT_FIFO_RST.  TO-DO: replace this call with FIFO_reset()?
	register_write(MPUREG_USER_CTRL, 0x00);		// MPUREG_USER_CTRL: 0
	register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);
}

// New data packet in FIFO?
bool AP_InertialSensor_MPU6000::FIFO_ready()
{
	_fifoCountH = register_read(MPUREG_FIFO_COUNTH);
	_fifoCountL = register_read(MPUREG_FIFO_COUNTL);
	if(_fifoCountL == FIFO_PACKET_SIZE){
		return 1;
	}
	else{
		//We should not reach this point or maybe we have more than one packet (we should manage this!)
		FIFO_reset();
		return 0;
	}
}

// FIFO_reset - reset/clear FIFO buffer used to capture attitude information from DMP
void AP_InertialSensor_MPU6000::FIFO_reset()
{
	uint8_t temp;
	temp = register_read(MPUREG_USER_CTRL);
	temp = temp | BIT_USER_CTRL_FIFO_RESET;		// FIFO RESET BIT
	register_write(MPUREG_USER_CTRL, temp);
	_new_data = 0;								// clear new data flag
}

// FIFO_getPacket - read an attitude packet from FIFO buffer
// TO-DO: interpret results instead of just dumping into a buffer
void AP_InertialSensor_MPU6000::FIFO_getPacket()
{
	uint8_t dump;
	uint8_t i;
	int16_t q_long[4];
	uint8_t addr = MPUREG_FIFO_R_W | 0x80;	// Set most significant bit to indicate a read
    uint8_t received_packet[DMP_FIFO_BUFFER_SIZE];    // FIFO packet buffer
	digitalWrite(_cs_pin, LOW);				// enable the device
	dump = _SPIx->transfer(addr);				// send address we want to read from
	for(i = 0; i < _fifoCountL; i++){
		received_packet[i] = _SPIx->transfer(0);	// request value
	}
	digitalWrite(_cs_pin, HIGH);				// disable device

	// we are using 16 bits resolution
	q_long[0] = (int16_t) ((((uint16_t) received_packet[0]) << 8) + ((uint16_t) received_packet[1]));
	q_long[1] = (int16_t) ((((uint16_t) received_packet[4]) << 8) + ((uint16_t) received_packet[5]));
	q_long[2] = (int16_t) ((((uint16_t) received_packet[8]) << 8) + ((uint16_t) received_packet[9]));
	q_long[3] = (int16_t) ((((uint16_t) received_packet[12]) << 8) + ((uint16_t) received_packet[13]));
	// Take care of sign
	for (i = 0; i < 4; i++ ){
		if(q_long[i] > 32767){
			q_long[i] -= 65536;
		}
	}
	quaternion.q1 = ((float)q_long[0]) / 16384.0f;   // convert from fixed point to float
	quaternion.q2 = ((float)q_long[2]) / 16384.0f;   // convert from fixed point to float
	quaternion.q3 = ((float)q_long[1]) / 16384.0f;   // convert from fixed point to float
	quaternion.q4 = ((float)-q_long[3]) / 16384.0f;   // convert from fixed point to float
}

// dmp_set_gyro_calibration - apply default gyro calibration FS=2000dps and default orientation
void AP_InertialSensor_MPU6000::dmp_set_gyro_calibration()
{
	uint8_t regs[4];
	regs[0]=0x4C;
	regs[1]=0xCD;
	regs[2]=0x6C;
	dmp_register_write(0x03, 0x7B, 0x03, regs);		//FCFG_1 inv_set_gyro_calibration
	regs[0]=0x36;
	regs[1]=0x56;
	regs[2]=0x76;
	dmp_register_write(0x03, 0xAB, 0x03, regs);		//FCFG_3 inv_set_gyro_calibration
	regs[0]=0x02;
	regs[1]=0xCB;
	regs[2]=0x47;
	regs[3]=0xA2;
	dmp_register_write(0x00, 0x68, 0x04, regs);		//D_0_104 inv_set_gyro_calibration
	regs[0]=0x00;
	regs[1]=0x05;
	regs[2]=0x8B;
	regs[3]=0xC1;
	dmp_register_write(0x02, 0x18, 0x04, regs);		//D_0_24 inv_set_gyro_calibration
}

// dmp_set_accel_calibration - apply default accel calibration scale=8g and default orientation
void AP_InertialSensor_MPU6000::dmp_set_accel_calibration()
{
	uint8_t regs[6];
	regs[0]=0x00;
	regs[1]=0x00;
	regs[2]=0x00;
	regs[3]=0x00;
	dmp_register_write(0x01, 0x0C, 0x04, regs);		//D_1_152 inv_set_accel_calibration
	regs[0]=0x0C;
	regs[1]=0xC9;
	regs[2]=0x2C;
	regs[3]=0x97;
	regs[4]=0x97;
	regs[5]=0x97;
	dmp_register_write(0x03, 0x7F, 0x06, regs);		//FCFG_2 inv_set_accel_calibration
	regs[0]=0x26;
	regs[1]=0x46;
	regs[2]=0x66;
	dmp_register_write(0x03, 0x89, 0x03, regs);		//FCFG_7 inv_set_accel_calibration
	// accel range, 0x20,0x00 => 2g, 0x10,0x00=>4g    regs= (1073741824/accel_scale*65536)
	//regs[0]=0x20;	// 2g
	regs[0]=0x08;		// 8g
	regs[1]=0x00;
	dmp_register_write(0x00, 0x6C, 0x02, regs);		//D_0_108 inv_set_accel_calibration
}

// dmp_apply_endian_accel - set byte order of accelerometer values?
void AP_InertialSensor_MPU6000::dmp_apply_endian_accel()
{
	uint8_t regs[4];
	regs[0]=0x00;
	regs[1]=0x00;
	regs[2]=0x40;
	regs[3]=0x00;
	dmp_register_write(0x01, 0xEC, 0x04, regs);   //D_1_236 inv_apply_endian_accel
}

// dmp_set_mpu_sensors - to configure for SIX_AXIS output
void AP_InertialSensor_MPU6000::dmp_set_mpu_sensors()
{
	uint8_t regs[6];
	regs[0]=0x0C;
	regs[1]=0xC9;
	regs[2]=0x2C;
	regs[3]=0x97;
	regs[4]=0x97;
	regs[5]=0x97;
	dmp_register_write(0x03, 0x7F, 0x06, regs);   //FCFG_2  inv_set_mpu_sensors(INV_SIX_AXIS_GYRO_ACCEL);
}

// dmp_set_bias_from_no_motion - turn on bias from no motion
void AP_InertialSensor_MPU6000::dmp_set_bias_from_no_motion()
{
	uint8_t regs[4];
	regs[0]=0x0D;
	regs[1]=0x35;
	regs[2]=0x5D;
	dmp_register_write(0x04, 0x02, 0x03, regs);   //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
	regs[0]=0x87;
	regs[1]=0x2D;
	regs[2]=0x35;
	regs[3]=0x3D;
	dmp_register_write(0x04, 0x09, 0x04, regs);   //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION );
}

// dmp_set_bias_none - turn off internal bias correction (we will use this and we handle the gyro bias correction externally)
void AP_InertialSensor_MPU6000::dmp_set_bias_none()
{
	uint8_t regs[4];
	regs[0]=0x98;
	regs[1]=0x98;
	regs[2]=0x98;
	dmp_register_write(0x04, 0x02, 0x03, regs);   //CFG_MOTION_BIAS inv_turn_off_bias_from_no_motion
	regs[0]=0x87;
	regs[1]=0x2D;
	regs[2]=0x35;
	regs[3]=0x3D;
	dmp_register_write(0x04, 0x09, 0x04, regs);   //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION );
}

// dmp_set_fifo_interrupt
void AP_InertialSensor_MPU6000::dmp_set_fifo_interrupt()
{
	uint8_t regs[1];
	regs[0]=0xFE;
	dmp_register_write(0x07, 0x86, 0x01, regs);   //CFG_6 inv_set_fifo_interupt
}

// dmp_send_quaternion - send quaternion data to FIFO
void AP_InertialSensor_MPU6000::dmp_send_quaternion()
{
	uint8_t regs[5];
	regs[0]=0xF1;
	regs[1]=0x20;
	regs[2]=0x28;
	regs[3]=0x30;
	regs[4]=0x38;
	dmp_register_write(0x07, 0x41, 0x05, regs);   //CFG_8 inv_send_quaternion
	regs[0]=0x30;
	dmp_register_write(0x07, 0x7E, 0x01, regs);   //CFG_16 inv_set_footer
}

// dmp_send_gyro - send gyro data to FIFO
void AP_InertialSensor_MPU6000::dmp_send_gyro()
{
	uint8_t regs[4];
	regs[0]=0xF1;
	regs[1]=0x28;
	regs[2]=0x30;
	regs[3]=0x38;
	dmp_register_write(0x07, 0x47, 0x04, regs);   //CFG_9 inv_send_gyro
}

// dmp_send_accel - send accel data to FIFO
void AP_InertialSensor_MPU6000::dmp_send_accel()
{
	uint8_t regs[54];
	regs[0]=0xF1;
	regs[1]=0x28;
	regs[2]=0x30;
	regs[3]=0x38;
	dmp_register_write(0x07, 0x6C, 0x04, regs);   //CFG_12 inv_send_accel
}

// This functions defines the rate at wich attitude data is send to FIFO
// Rate: 0 => SAMPLE_RATE(ex:200Hz), 1=> SAMPLE_RATE/2 (ex:100Hz), 2=> SAMPLE_RATE/3 (ex:66Hz)
// rate constant definitions in MPU6000.h
void AP_InertialSensor_MPU6000::dmp_set_fifo_rate(uint8_t rate)
{
	uint8_t regs[2];
	regs[0]=0x00;
	regs[1]=rate;
	dmp_register_write(0x02, 0x16, 0x02, regs);		//D_0_22 inv_set_fifo_rate
}

// This function defines the weight of the accel on the sensor fusion
// default value is 0x80
// The official invensense name is inv_key_0_96 (??)
void AP_InertialSensor_MPU6000::dmp_set_sensor_fusion_accel_gain(uint8_t gain)
{
	uint8_t dump;
	//inv_key_0_96
	register_write(MPUREG_BANK_SEL,0x00);
	register_write(MPUREG_MEM_START_ADDR, 0x60);
	digitalWrite(_cs_pin, LOW);
	dump = _SPIx->transfer(MPUREG_MEM_R_W);
	dump = _SPIx->transfer(0x00);
	dump = _SPIx->transfer(gain);  // Original : 0x80    To test: 0x40,  0x20 (too less)
	dump = _SPIx->transfer(0x00);
	dump = _SPIx->transfer(0x00);
	digitalWrite(_cs_pin, HIGH);
}

// Load initial memory values into DMP memory banks
void AP_InertialSensor_MPU6000::dmp_load_mem()
{
	uint8_t dump;
	for(int i = 0; i < 7; i++) {
		register_write(MPUREG_BANK_SEL,i);      //MPUREG_BANK_SEL
		for(uint8_t j = 0; j < 16; j++){
			uint8_t start_addy = j * 0x10;
			register_write(MPUREG_MEM_START_ADDR,start_addy);
			digitalWrite(_cs_pin, LOW);
			dump = _SPIx->transfer(MPUREG_MEM_R_W);
			for(int k = 0; k < 16; k++){
				uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k]));
				dump = _SPIx->transfer((uint8_t) byteToSend);
			}
			digitalWrite(_cs_pin, HIGH);
		}
	}

	register_write(MPUREG_BANK_SEL,7);      //MPUREG_BANK_SEL
	for(uint8_t j = 0; j < 8; j++){
		uint8_t start_addy = j * 0x10;
		register_write(MPUREG_MEM_START_ADDR,start_addy);
		digitalWrite(_cs_pin, LOW);
		dump = _SPIx->transfer(MPUREG_MEM_R_W);
		for(int k = 0; k < 16; k++){
			uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k]));
			dump = _SPIx->transfer((uint8_t) byteToSend);
		}
		digitalWrite(_cs_pin, HIGH);
	}

	register_write(MPUREG_MEM_START_ADDR,0x80);
	digitalWrite(_cs_pin, LOW);
	dump = _SPIx->transfer(MPUREG_MEM_R_W);
	for(int k = 0; k < 9; k++){
		uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k]));
		dump = _SPIx->transfer((uint8_t) byteToSend);
	}
	digitalWrite(_cs_pin, HIGH);
}

// ========= DMP MEMORY ================================

const uint8_t dmpMem[8][16][16] = {
  {
    {
            0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00
        }
    ,
    {
            0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01
        }
    ,
    {
            0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
        }
    ,
    {
            0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00
        }
    ,
    {
            0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01
        }
    ,
    {
            0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
        }
    ,
    {
            0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00
        }
    ,
    {
            0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00
        }
    ,
    {
            0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82
        }
    ,
    {
            0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00
        }
    ,
    {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00
        }
    ,
    {
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        }
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    {
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        }
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    {
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        }
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    {
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        }
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    {
            0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10
  }
    }
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    {
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        }
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    {
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        }
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    {
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        }
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    {
            0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7
        }
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    {
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        }
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    {
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        }
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    {
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        {
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        {
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        {
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        {
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        {
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        }
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    {
        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        {
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        }
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    {
        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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    {
        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        {
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        }
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        {
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        {
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        }
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        {
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        {
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        }
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    {
        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        {
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        {
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        }
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        {
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        }
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        {
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        }
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        {
            0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97
        }
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        {
            0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04
        }
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        {
            0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78
        }
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        {
            0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79
        }
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        {
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        }
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        {
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        }
    }
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    {
        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
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        {
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        }
        ,
        {
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        }
    }
    ,
    {
        {
            0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8
        }
        ,
        {
            0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA
        }
        ,
        {
            0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB
        }
        ,
        {
            0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3
        }
        ,
        {
            0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3
        }
        ,
        {
            0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3
        }
        ,
        {
            0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3
        }
        ,
        {
            0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC
        }
        ,
        {
            0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
        }
    }
};
